CN-121973765-A - Vehicle self-stabilization and track tracking control method under side collision

CN121973765ACN 121973765 ACN121973765 ACN 121973765ACN-121973765-A

Abstract

The invention provides a self-stabilization and track tracking control method for a vehicle under side collision, which is characterized in that after the crashed vehicle is crashed, a two-degree-of-freedom vehicle model is built, the stability state of the current vehicle is judged according to actual information, when an unstable condition occurs, the driving moment of the response of each wheel is determined, and the actions of each wheel are controlled according to the driving moment, so that the stability of the vehicle is ensured.

Inventors

LAI FEI
HUANG CHAOQUN

Assignees

重庆理工大学

Dates

Publication Date: 20260505
Application Date: 20251231

Claims (7)

1.A method for controlling self-stabilization and track tracking of a vehicle under side collision is characterized by comprising the following steps: S1, constructing a three-degree-of-freedom dynamic model of a vehicle under a lateral collision, and determining the state quantity of the vehicle under the lateral collision based on the three-dimensional dynamic model, wherein the state quantity of the vehicle comprises a front wheel deflection angle, a vehicle body yaw rate and a vehicle body yaw angle; S2, constructing a magic tire model, and determining the longitudinal force and the lateral force of each wheel of the vehicle under the lateral collision based on the modulus tire model; s3, constructing a two-degree-of-freedom dynamics model of the vehicle under the side collision, determining the lateral speed and the yaw rate of the vehicle body under the side collision according to the two-degree-of-freedom dynamics model, and judging whether the vehicle is in a stable state or not based on the yaw rate of the vehicle determined by the two-degree-of-freedom dynamics model; s4, determining the yaw moment of the vehicle under the side collision, determining the driving moment of each wheel of the vehicle by the yaw moment, and controlling the wheels to act according to the driving moment; s5, constructing a model prediction controller, inputting state quantities in the three-degree-of-freedom dynamics model into the model prediction controller, and predicting the vehicle displacement state at the next moment; S6, constructing an optimization model based on the predicted vehicle displacement state, solving the optimization model to obtain the front wheel turning angle of the vehicle, and controlling the vehicle according to the front wheel turning angle of the vehicle.
2. The method for controlling self-stabilization and trajectory tracking of a vehicle in a side collision according to claim 1, wherein the constructing a three-degree-of-freedom dynamics model of the vehicle in the side collision comprises: ; ; ; ; ; ; Wherein δ represents a front wheel rotation angle of a crashed vehicle, vx represents a speed component of the vehicle in an x-axis direction, vy represents a speed component of the vehicle in a y-axis direction, m represents a total mass of the vehicle, a represents a distance from a front axle of the vehicle to a center of mass of the vehicle, B represents a distance from a rear axle of the vehicle to the center of mass of the vehicle, B represents a track width of the vehicle, I zz is a moment of inertia of the vehicle around a z-axis, F xfl 、F yfl represents a longitudinal force and a lateral force of a front left wheel of the vehicle, F xfr 、F yfr represents a longitudinal force and a lateral force of a front right wheel of the vehicle, F xrl 、F yrl represents a longitudinal force and a lateral force of a rear left wheel of the vehicle, and F xrr 、F yrr represents a longitudinal force and a lateral force of a rear right wheel of the vehicle, respectively.
3. The method for controlling the self-stabilization and trajectory tracking of a vehicle in a side collision according to claim 1, wherein the step S2 comprises the following steps: ; ; Wherein F x 、F y represents the longitudinal and lateral forces, respectively, of the tire under full braking; ; ; Wherein F z represents the vertical load received by the tire, a 0 ~a 8 represents the fitting coefficient of the longitudinal force of the tire, b 0 ~b 8 represents the fitting coefficient of the lateral force of the tire, and lambda represents the road adhesion coefficient.
4. The method for controlling vehicle self-stabilization and trajectory tracking in a side collision according to claim 1, wherein the constructing a two-degree-of-freedom dynamics model of the vehicle in the side collision comprises: ; Wherein C f 、C r represents the side angle rigidity of the front and rear wheels of the crashed vehicle, fr represents the impact force applied to the crashed vehicle, and Mr represents the impact moment applied to the crashed vehicle.
5. The method for vehicle self-stabilization and trajectory tracking control under a side collision according to claim 4, wherein the impact force received by the crashed vehicle is determined by: determining the impact strength of the crashed vehicle in the x-axis direction and the y-axis direction: ; ; Vx1, vy1 represent the longitudinal and lateral components of the centroid velocity of the crashed vehicle at the moment after the end of the crash, Ω z1, Ω x1 represent the yaw rate and camber rate of the crashed vehicle at the moment after the end of the crash, rz1, rx1 represent the moment before the crash occurs, M1 represent the total mass of the crashed vehicle, MR1 represent the sprung mass of the crashed vehicle; The total impact strength experienced by the crashed vehicle is determined from the impact strengths experienced by the vehicle in the x-axis and y-directions, Determining the impact force of the crashed vehicle from the total impact strength: Wherein t represents the duration of the vehicle collision, and P represents the resultant impact strength of the impact strength in the x-axis direction, and the impact strength in the y-axis direction, P x , and P y .
6. The method for controlling the self-stabilization and trajectory tracking of a vehicle in a side collision according to claim 1, wherein the step S4 comprises the following steps: ; Wherein: 、 The longitudinal distances between the mass center of the vehicle and the front axle and the rear axle are respectively represented; Wherein: s represents the sliding surface equation; The exponential approach law defining the sliding surface equation is: ; Represents boundary layer thickness, K represents an approach law index; The driving torque of each wheel is: R represents the rolling radius of the wheel, and h represents the height of the mass center.
7. The method for controlling the self-stabilization and trajectory tracking of a vehicle in a side collision according to claim 2, wherein the optimization model is specifically: ; The constraint conditions are as follows: Wherein U max and U min are respectively the maximum value and the minimum value of the front wheel rotation angle, and DeltaU max and DeltaU min are respectively the maximum value and the minimum value of the front wheel rotation angle increment.

Description

Vehicle self-stabilization and track tracking control method under side collision Technical Field The present disclosure relates to vehicle control, and particularly to a vehicle self-stabilization and trajectory tracking control method for a side collision. Background Vehicles have gradually become an indispensable transportation means in daily life, but traffic safety has also gradually become a concern. In the prior art, the control of the vehicle is mainly focused on the aspects of emergency collision avoidance, stability control and track tracking before the collision of the vehicle, in practice, although the vehicle realizes the control of emergency collision avoidance according to corresponding parameters, the vehicle is inevitably impacted by other vehicles, and how to keep the vehicle stable under the condition that the current vehicle cannot avoid becomes a technical problem to be solved urgently. Therefore, in order to solve the above-mentioned technical problems, a new technical means is needed. Disclosure of Invention Therefore, the invention aims to provide a vehicle self-stabilization and track tracking control method under side collision, when a crashed vehicle is crashed, a two-degree-of-freedom vehicle model is built, the stability state of the current vehicle is judged according to actual information, when an unstable condition occurs, the driving moment of the response of each wheel is determined, and the actions of each wheel are controlled according to the driving moment, so that the stability of the vehicle is ensured. The invention provides a vehicle self-stabilization and track tracking control method under side collision, which comprises the following steps: S1, constructing a three-degree-of-freedom dynamic model of a vehicle under a lateral collision, and determining the state quantity of the vehicle under the lateral collision based on the three-dimensional dynamic model, wherein the state quantity of the vehicle comprises a front wheel deflection angle, a vehicle body yaw rate and a vehicle body yaw angle; S2, constructing a magic tire model, and determining the longitudinal force and the lateral force of each wheel of the vehicle under the lateral collision based on the modulus tire model; s3, constructing a two-degree-of-freedom dynamics model of the vehicle under the side collision, determining the lateral speed and the yaw rate of the vehicle body under the side collision according to the two-degree-of-freedom dynamics model, and judging whether the vehicle is in a stable state or not based on the yaw rate of the vehicle determined by the two-degree-of-freedom dynamics model; s4, determining the yaw moment of the vehicle under the side collision, determining the driving moment of each wheel of the vehicle by the yaw moment, and controlling the wheels to act according to the driving moment; s5, constructing a model prediction controller, inputting state quantities in the three-degree-of-freedom dynamics model into the model prediction controller, and predicting the vehicle displacement state at the next moment; S6, constructing an optimization model based on the predicted vehicle displacement state, solving the optimization model to obtain the front wheel turning angle of the vehicle, and controlling the vehicle according to the front wheel turning angle of the vehicle. Further, the construction of the three-degree-of-freedom dynamics model of the vehicle under the side collision specifically comprises the following steps: ; ; ; ; ; ; Wherein δ represents a front wheel rotation angle of a crashed vehicle, vx represents a speed component of the vehicle in an x-axis direction, vy represents a speed component of the vehicle in a y-axis direction, m represents a total mass of the vehicle, a represents a distance from a front axle of the vehicle to a center of mass of the vehicle, B represents a distance from a rear axle of the vehicle to the center of mass of the vehicle, B represents a track width of the vehicle, I zz is a moment of inertia of the vehicle around a z-axis, F xfl、Fyfl represents a longitudinal force and a lateral force of a front left wheel of the vehicle, F xfr、Fyfr represents a longitudinal force and a lateral force of a front right wheel of the vehicle, F xrl、Fyrl represents a longitudinal force and a lateral force of a rear left wheel of the vehicle, and F xrr、Fyrr represents a longitudinal force and a lateral force of a rear right wheel of the vehicle, respectively. Further, the step S2 specifically includes: ; ; Wherein F x、Fy represents the longitudinal and lateral forces, respectively, of the tire under full braking; ; ; Wherein F z represents the vertical load received by the tire, a 0~a8 represents the fitting coefficient of the longitudinal force of the tire, b 0~b8 represents the fitting coefficient of the lateral force of the tire, and lambda represents the road adhesion coefficient. Further, the construction of the two-degree-of-freedom dynamics mod